CN113687330A - Laser radar and transmitting device thereof - Google Patents
Laser radar and transmitting device thereof Download PDFInfo
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- CN113687330A CN113687330A CN202111106392.6A CN202111106392A CN113687330A CN 113687330 A CN113687330 A CN 113687330A CN 202111106392 A CN202111106392 A CN 202111106392A CN 113687330 A CN113687330 A CN 113687330A
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- laser
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- fiber rod
- circuit board
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- 230000004075 alteration Effects 0.000 claims abstract description 7
- 239000000835 fiber Substances 0.000 claims description 33
- 230000003287 optical effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 22
- 230000008569 process Effects 0.000 description 19
- 239000013307 optical fiber Substances 0.000 description 10
- 239000004065 semiconductor Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000003776 cleavage reaction Methods 0.000 description 3
- 230000007017 scission Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
Abstract
The application provides a laser radar transmitting device and a laser radar, wherein the laser radar transmitting device comprises a laser and a collimating piece, and the laser is used for emitting laser beams; the collimating element is arranged in front of the light-emitting end face of the laser and is used for increasing the divergence angle of the laser beam in the slow axis direction so as to reduce the aberration of the laser beam in the slow axis direction and the fast axis direction. The transmitting device of the laser radar has a simple structure and can effectively reduce the divergence angle of the system.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a laser radar and a transmitting device thereof.
Background
The laser radar is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is that the detection laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after appropriate processing, the relevant information of the target, such as the parameters of the target distance, the direction, the height, the speed, the attitude, even the shape and the like, can be obtained. The laser radar has a key performance index: the angle of divergence. The divergence angle is a measure of the speed at which the beam spreads out. The smaller the divergence angle, the stronger the laser ranging capability.
Most laser radars in the industry use a semiconductor laser as a light source, the light emitting surface of the existing semiconductor laser is a long and narrow rectangle, the divergence degrees of a long edge and a wide edge are different and are divided into a fast axis and a slow axis, and the divergence degree of the fast axis is larger. Therefore, the laser beam of the laser is generally collimated in the industry, the beam divergence angle of the laser radar is reduced, and the distance measuring capability is improved, but the structure of the laser radar adopting the existing collimation scheme is complex.
Disclosure of Invention
An object of the embodiment of the application is to provide a laser radar's emitter and laser radar, this laser radar's emitter simple structure just can effectively reduce the system divergence angle.
The application provides a transmitting device of a laser radar, which comprises a laser and a collimating piece, wherein the laser is used for emitting laser beams; the collimating element is arranged in front of the light-emitting end face of the laser and is used for increasing the divergence angle of the laser beam in the slow axis direction so as to reduce the aberration of the laser beam in the slow axis direction and the fast axis direction.
In the implementation process, the divergence angle of the laser beam in the slow axis direction is increased by the collimating element, on one hand, the aberration of the divergence angle of the fast axis and the divergence angle of the slow axis can be reduced, on the other hand, the divergence angle of the laser beam before passing through the lens group is increased, and then the light path distance between the laser and the lens group is reduced, so that the size of the laser radar can be effectively reduced or the internal structure of the laser radar is simplified, the system divergence angle of the laser beam passing through the lens group is reduced, and the ranging capability of the laser radar is improved.
In a possible implementation manner, the collimating element is a fiber rod lens, and the length extension direction of the fiber rod lens is parallel to the fast axis direction of the laser beam.
In the implementation process, the optical fiber rod lens is used as the collimating piece, the divergence angle of the laser beam in the slow axis direction is enlarged, the structure is simple and easy to obtain, the price is low, the installation is easy, the internal structure of the laser radar can be simplified, and the cost is reduced.
In one possible implementation, the laser beam is entirely passed through the fiber rod lens.
In the implementation process, in the actual production and assembly process, the distance between the fiber rod lens and the light-emitting end face of the laser is adjusted, so that all laser beams are emitted through the fiber rod lens, and the uniformity of the laser beams is ensured.
In one possible implementation, the diameter of the light bar lens is greater than the length of the divergent light surface of the fast axis of the laser beam, and the length of the light bar lens is greater than the length of the divergent light surface of the slow axis of the laser beam.
In a possible implementation manner, the transmitting device of the laser radar further includes a circuit board, the surface of the circuit board is provided with the laser and the fiber rod lens, the light emitting direction of the laser is parallel to the surface of the circuit board, and the fiber rod lens is perpendicular to the circuit board.
In the implementation process, the laser and the optical fiber rod lens are arranged on the circuit board, so that the connection structure can be simplified, the connection stability is improved, and the stability of the mutual positions of the laser and the optical fiber rod lens is ensured.
In a possible implementation manner, a mounting groove is formed in the side edge of the circuit board, and one end of the optical fiber rod lens is bonded in the mounting groove.
In the implementation process, the optical fiber rod lens is connected to the circuit board in a bonding mode, the structure is simple, and the operation is convenient and fast. The installation groove is formed in the side edge of the circuit board, so that the bonding area between the optical fiber rod lens and the circuit board can be increased, and the connection stability is improved.
In one possible implementation, the laser is bonded to the circuit board.
In the implementation process, the laser is connected to the circuit board in a bonding mode, the structure is simple, and the operation is convenient and fast.
In a possible implementation manner, the transmitting device of the laser radar further comprises a lens group, wherein the lens group is arranged opposite to the light-emitting end face of the laser and is used for collimating the light beam passing through the collimating element.
In a possible implementation manner, the laser lens further comprises a window, wherein the window is a concave lens, and the window is arranged on one side, far away from the laser, of the lens group and used for enabling a laser beam penetrating through the lens group to pass through.
In the assembly production process, laser beams need to be collimated, in the collimation process, a laser is powered on and emits light, then an optical fiber rod lens is arranged at the front end of the laser and covers the light emitting surface of the laser, and the position of the optical fiber rod lens is adjusted, so that the size of a light spot meets the requirement of system design.
In a second aspect, the present application further provides a lidar comprising a reflection arrangement of the lidar described in any of the embodiments of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a block diagram of a laser and fiber rod lens assembly according to an embodiment of the present disclosure;
fig. 2 is a structural diagram of a transmitting apparatus of a laser radar according to an embodiment of the present application.
Icon: 100-a laser; 200-a fiber rod lens; 300-a circuit board; 400-mounting grooves; 500-lens group; 600-view window.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The light emitting surface of the semiconductor laser is a long and narrow rectangle, the divergence degrees of the long edge and the wide edge are different, the semiconductor laser is divided into a fast axis and a slow axis, the divergence degree of the fast axis is large, the beam waist of the fast axis is close to the cleavage surface of the laser or the cleavage surface of the laser on the cleavage surface of the laser, the distance between the beam waist of the slow axis and the lens group in the laser radar is short, and the distance between the beam waist of the slow axis and the lens group in the laser radar is long.
In the laser radar, the divergence angle of the system after passing through the lens group also depends on the design of the lens group, and is generally characterized as follows: the beam diameter x system divergence angle ≈ constant. Therefore, under certain conditions, the larger the beam diameter, the smaller the system divergence angle. Under other conditions and with a certain clear aperture of the lens assembly, the beam diameter of the laser beam after passing through the lens assembly is equal to the clear aperture, so that the divergence angle of the system is optimized. In order to ensure that the diameter of the beam emitted by the laser is equal to the clear aperture, the larger the divergence angle of the laser beam before passing through the lens group, the smaller the optical path distance between the laser and the lens group.
In the prior art, for a semiconductor laser, a common collimation scheme is to use a collimating device to independently compress a fast axis to a divergence angle, slow down the divergence speed of the fast axis of a laser output beam, compress the fast axis divergence angle to be similar to or lower than the divergence degree of a slow axis, and reduce the system divergence angle of a laser radar by matching with a lens group, adjusting a focal length and the like. Therefore, the above collimation scheme reduces the aberration between the divergence angle of the fast axis and the divergence angle of the slow axis, but the divergence angle of the laser beam before passing through the lens group becomes smaller, which means that the optical path distance between the laser and the lens group needs to be increased, so that the beam diameter after the laser beam passes through the lens group is equal to the clear aperture. The increase of the optical path distance between the laser and the lens group means that the volume of the laser radar becomes large or the internal structure of the laser radar becomes complicated, that is, the volume of the laser radar is increased to satisfy the optical path distance, or under the condition that the volume of the laser radar is not changed, a corresponding structure such as a reflector is arranged inside the laser radar to increase the optical path distance.
Referring to fig. 1, fig. 1 is a structural diagram of an assembly of a laser and a fiber rod lens provided in an embodiment of the present application, where the apparatus includes a laser 100 and a collimating component, where the laser 100 is used to emit a laser beam; the collimating element is disposed in front of the light emitting end face of the laser 100 for increasing the divergence angle of the laser beam in the slow axis direction to reduce the aberration of the laser beam in the slow axis direction and the fast axis direction.
In the implementation process, the divergence angle of the laser beam in the slow axis direction is increased by the collimating element, so that on one hand, the aberration of the divergence angle of the fast axis and the divergence angle of the slow axis can be reduced, on the other hand, the divergence angle of the laser beam before passing through the lens group 500 is increased, and further, the light path distance between the laser 100 and the lens group 500 is reduced, so that the volume of the laser radar can be effectively reduced or the internal structure of the laser radar is simplified, the system divergence angle of the laser beam after passing through the lens group is reduced, and the ranging capability of the laser radar is improved.
In one possible implementation, the collimating element is a fiber rod lens 200, and the length extension direction of the fiber rod lens 200 is parallel to the fast axis direction of the laser beam.
In the implementation process, the fiber rod lens 200 is used as a collimating piece, the divergence angle of the laser beam in the slow axis direction is enlarged, the structure is simple and easy to obtain, the price is low, the installation is easy, the internal structure of the laser radar can be simplified, and the cost is reduced.
It should be noted that the collimating element may also be another structural element or structural assembly capable of expanding the divergence angle of the slow axis of the laser beam, which is not limited in this embodiment of the present application.
In one possible implementation, the laser beam is entirely passed through a fiber rod lens 200.
In the implementation process, in the actual production and assembly process, the size of the fiber rod lens 200 and the distance between the fiber rod lens 200 and the light-emitting end face of the laser 100 are adjusted, so that all laser beams are emitted through the fiber rod lens 200, and the uniformity of the laser beams is ensured.
Optionally, the diameter of the fiber rod lens 200 is greater than the length of the diverging light surface of the slow axis of the laser beam, and the length of the fiber rod lens 200 is greater than the length of the diverging light surface of the fast axis of the laser beam, so as to ensure that the laser beam completely enters the fiber rod lens 200.
In a possible implementation manner, the transmitting device of the lidar further includes a circuit board 300, a surface of the circuit board 300 is provided with the laser 100 and the fiber rod lens 200, a light emitting direction of the laser 100 is parallel to the surface of the circuit board 300, and the fiber rod lens 200 is perpendicular to the circuit board 300.
In the implementation process, the laser 100 and the fiber rod lens 200 are both arranged on the circuit board 300, so that the connection structure can be simplified, the connection stability is improved, and the mutual position stability of the laser 100 and the fiber rod lens 200 is ensured.
In one possible implementation manner, a mounting groove 400 is formed at a lateral edge of the circuit board 300, and one end of the fiber rod lens 200 is adhered in the mounting groove 400.
In the implementation process, the fiber rod lens 200 is connected to the circuit board 300 in a bonding mode, so that the structure is simple, and the operation is convenient and fast. The installation groove 400 is formed on the side edge of the circuit board 300, so that the bonding area between the fiber rod lens 200 and the circuit board 300 can be increased, and the connection stability can be improved.
In one possible implementation, the laser 100 is bonded to the circuit board 300.
In the implementation process, the laser 100 is connected to the circuit board 300 in a bonding manner, so that the structure is simple, and the operation is convenient and fast.
Alternatively, laser 100 may be in the form of a die or other package, which is not limited in this application.
In a possible implementation manner, please refer to fig. 2, and fig. 2 is a structural diagram of an emitting device of a lidar according to an embodiment of the present disclosure, the emitting device of the lidar further includes a lens group 500, and the lens group 500 is disposed opposite to a light-emitting end surface of the laser 100 and is used for collimating a light beam passing through a collimating element.
In a possible implementation manner, the optical lens assembly further includes a window 600, the window 600 is a concave lens, and the window 600 is disposed on a side of the lens assembly 500 away from the laser 100 and is used for allowing the laser beam passing through the lens assembly 500 to pass through.
In the assembly production process, laser beams need to be collimated, in the collimation process, the laser 100 is powered on and emits light, then the optical fiber rod lens 200 is installed at the front end of the laser 100 and covers the whole light emitting surface of the laser 100, and the position of the optical fiber rod lens 200 is adjusted, so that the size of a light spot meets the requirement of system design.
In a second aspect, the present application further provides a lidar comprising a reflection arrangement of the lidar described in any of the embodiments of the first aspect.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A lidar transmitting apparatus, comprising:
a laser for emitting a laser beam;
and the collimating piece is arranged in front of the light-emitting end surface of the laser and used for increasing the divergence angle of the laser beam in the slow axis direction so as to reduce the aberration of the laser beam in the slow axis direction and the fast axis direction.
2. The apparatus of claim 1, wherein the collimating element is a fiber rod lens, and a length of the fiber rod lens is elongated in a direction parallel to a fast axis of the laser beam.
3. The apparatus of claim 2, wherein the laser beam passes entirely through the fiber rod lens.
4. The apparatus of claim 3, wherein the diameter of the optical wand lens is greater than the length of the diverging surface of the fast axis of the laser beam, and the length of the optical wand lens is greater than the length of the diverging surface of the slow axis of the laser beam.
5. The apparatus of claim 3, further comprising a circuit board, wherein the surface of the circuit board is provided with the laser and the fiber rod lens, the light emitting direction of the laser is parallel to the surface of the circuit board, and the fiber rod lens is perpendicular to the circuit board.
6. The apparatus of claim 5, wherein the circuit board has a mounting groove formed on a side edge thereof, and one end of the fiber rod lens is adhered to the mounting groove.
7. The apparatus of claim 5, wherein the laser is bonded to the circuit board.
8. The device according to any one of claims 1-7, further comprising a lens group disposed opposite the light-emitting end surface of the laser for collimating the light beam passing through the collimating element.
9. The apparatus as claimed in claim 8, further comprising a window, wherein the window is a concave lens, and the window is disposed on a side of the lens set away from the laser for passing a laser beam passing through the lens set.
10. Lidar characterized by comprising a lidar transmission device according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106392.6A CN113687330A (en) | 2021-09-22 | 2021-09-22 | Laser radar and transmitting device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106392.6A CN113687330A (en) | 2021-09-22 | 2021-09-22 | Laser radar and transmitting device thereof |
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| Publication Number | Publication Date |
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| CN113687330A true CN113687330A (en) | 2021-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111106392.6A Pending CN113687330A (en) | 2021-09-22 | 2021-09-22 | Laser radar and transmitting device thereof |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946678A (en) * | 2019-03-15 | 2019-06-28 | 深圳市速腾聚创科技有限公司 | Laser radar emission system and method |
| CN111060891A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Laser radar |
| CN111308721A (en) * | 2020-03-04 | 2020-06-19 | 广东博智林机器人有限公司 | Optical window and laser radar |
| CN111398969A (en) * | 2020-04-27 | 2020-07-10 | 成都英飞睿技术有限公司 | Laser radar and transmitting-receiving device thereof |
| CN111398974A (en) * | 2020-04-10 | 2020-07-10 | 广东博智林机器人有限公司 | Laser detection device |
| CN211786402U (en) * | 2020-04-02 | 2020-10-27 | 杭州欧镭激光技术有限公司 | Light beam shaping device for laser radar |
| CN112285673A (en) * | 2020-11-16 | 2021-01-29 | 北京未感科技有限公司 | Laser radar and intelligent induction equipment |
| CN213750313U (en) * | 2020-11-27 | 2021-07-20 | 上海禾赛科技有限公司 | Optical window and laser radar |
| CN113193471A (en) * | 2019-07-31 | 2021-07-30 | 上海禾赛科技有限公司 | Laser, laser emitting board assembly, laser radar and laser packaging method |
-
2021
- 2021-09-22 CN CN202111106392.6A patent/CN113687330A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109946678A (en) * | 2019-03-15 | 2019-06-28 | 深圳市速腾聚创科技有限公司 | Laser radar emission system and method |
| CN113193471A (en) * | 2019-07-31 | 2021-07-30 | 上海禾赛科技有限公司 | Laser, laser emitting board assembly, laser radar and laser packaging method |
| CN111060891A (en) * | 2019-12-30 | 2020-04-24 | 广东博智林机器人有限公司 | Laser radar |
| CN111308721A (en) * | 2020-03-04 | 2020-06-19 | 广东博智林机器人有限公司 | Optical window and laser radar |
| CN211786402U (en) * | 2020-04-02 | 2020-10-27 | 杭州欧镭激光技术有限公司 | Light beam shaping device for laser radar |
| CN111398974A (en) * | 2020-04-10 | 2020-07-10 | 广东博智林机器人有限公司 | Laser detection device |
| CN111398969A (en) * | 2020-04-27 | 2020-07-10 | 成都英飞睿技术有限公司 | Laser radar and transmitting-receiving device thereof |
| CN112285673A (en) * | 2020-11-16 | 2021-01-29 | 北京未感科技有限公司 | Laser radar and intelligent induction equipment |
| CN213750313U (en) * | 2020-11-27 | 2021-07-20 | 上海禾赛科技有限公司 | Optical window and laser radar |
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